动态去中心化无人机3D城市覆盖与巡逻
Dynamic Decentralized 3D Urban Coverage and Patrol with UAVs
AI总结：
本文提出了一种模块化框架和巡逻策略，使无人机群在灾害场景中实现协作和周期性覆盖。通过任务分配将感兴趣区域离散化为连接的视点路径，无人机团队在随机方向上沿路径移动并碰撞，实现3D城市环境的完整覆盖。
摘要：
在自然灾害或人为灾害（如火灾、洪水和地震）发生时，无人机群可以快速扫描并提供覆盖以监控感兴趣区域并定位幸存者。我们提出了一种模块化框架和巡逻策略，使无人机群在这些场景中实现协作和周期性覆盖。我们的方法首先将感兴趣区域离散化为通过闭合路径连接的视点。通过任务分配将无人机分配到团队中，以协作巡逻这些闭合路径。我们提出了一种最小、可扩展且稳健的巡逻策略，其中团队内的无人机沿分配的闭合路径以随机方向移动，并在相遇时碰撞。我们的模拟结果表明，这种最小策略可以表现出一种涌现行为，提供3D城市环境中的周期性和完整覆盖。
英文摘要：
In the event of natural or man-made disasters in an urban environment, such as fires, floods, and earthquakes, a swarm of unmanned aerial vehicles (UAVs) can rapidly sweep and provide coverage to monitor the area of interest and locate survivors. We propose a modular framework and patrol strategy that enables a swarm of UAVs to perform cooperative and periodic coverage in such scenarios. Our approach first discretizes the area of interest into viewpoints connected via closed paths. UAVs are assigned to teams via task allocation to cooperatively patrol these closed paths. We propose a minimal, scalable, and robust patrol strategy where UAVs within a team move in a random direction along their assigned closed path and "bounce" off each other when they meet. Our simulation results show that such a minimal strategy can exhibit an emergent behaviour that provides periodic and complete coverage in a 3D urban environment.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
